function sys=plantmain(t,x,A,g,v,dt)



sys=zeros(6,1);

dxq=x(2);
dyq=x(4);
dphiq=x(6);

dQ=[dxq;dyq;dphiq];

sys(1)=dxq;
sys(3)=dyq;
sys(5)=dphiq;
result=A*dQ+g*v+dt;
sys(2)=result(1);
sys(4)=result(2);
sys(6)=result(3);




